// Copyright (c) 2008-2014, Andrew Walker
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
#include "dubins.h"
#include "matplotlibcpp.h"
#include <cstdio>

namespace plt = matplotlibcpp;

std::vector<double> path_x,path_y;

int printConfiguration(double q[3], double x, void* user_data) {
  printf("%f,%f,%f,%f\n", q[0], q[1], q[2], x);
  path_x.emplace_back(q[0]);
  path_y.emplace_back(q[1]);

  return 0;
}

int main() {
  double q0[] = {0, 0, 0};
  double q1[] = {4, 4, 3.142};
  DubinsPath path;
  dubins_shortest_path(&path, q0, q1, 1.0);

  printf("#x,y,theta,t\n");
  dubins_path_sample_many(&path, 0.1, printConfiguration, nullptr);
  plt::named_plot("X_Y", path_x, path_y);
  plt::legend();
  plt::axis("equal");
  plt::show();
  return 0;
}
